// Copyright (c) 2018, Bosch Software Innovations GmbH.
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#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__PALETTE_BUILDER_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__PALETTE_BUILDER_HPP_

#include <memory>
#include <vector>

#include "rviz_default_plugins/visibility_control.hpp"

namespace rviz_default_plugins
{
namespace displays
{

RVIZ_DEFAULT_PLUGINS_PUBLIC std::vector<unsigned char> makeRawPalette(
  bool binary = false,
  int threshold = 100);
RVIZ_DEFAULT_PLUGINS_PUBLIC std::vector<unsigned char> makeMapPalette(
  bool binary = false,
  int threshold = 100);
RVIZ_DEFAULT_PLUGINS_PUBLIC std::vector<unsigned char> makeCostmapPalette(
  bool binary = false,
  int threshold = 100);

class PaletteBuilder : public
  std::enable_shared_from_this<PaletteBuilder>
{
public:
  RVIZ_DEFAULT_PLUGINS_PUBLIC
  PaletteBuilder();

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  virtual ~PaletteBuilder() = default;

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  std::shared_ptr<PaletteBuilder> setColorForIllegalPositiveValues(
    unsigned char r, unsigned char g, unsigned char b);

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  std::shared_ptr<PaletteBuilder> setRedYellowColorsForIllegalNegativeValues();

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  std::shared_ptr<PaletteBuilder> setColorForLegalNegativeValueMinusOne(
    unsigned char r, unsigned char g, unsigned char b);

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  std::shared_ptr<PaletteBuilder> setColorForValue(
    unsigned char palette_position,
    unsigned char r, unsigned char g, unsigned char b, unsigned char alpha);

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  std::vector<unsigned char> buildPalette();

private:
  std::vector<unsigned char> palette_;
};

}  // namespace displays
}  // namespace rviz_default_plugins

#endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__PALETTE_BUILDER_HPP_
